feat: add aichallenge submit launch arg (#39)

* feat(aichallenge_submit_launch): replace from autoware launch to aichallenge submit launch

* revert: this line to original

* chore: remove unused

* chore: move map dir according to launch

---------

Co-authored-by: Masahiro Kubota <[email protected]>

aichallenge/workspace/src/aichallenge_submit/aichallenge_submit_launch/config/planning/mission_planning/mission_planner/mission_planner.param.yaml

@@ -0,0 +1,8 @@
+/**:
+  ros__parameters:
+    map_frame: map
+    arrival_check_angle_deg: 45.0
+    arrival_check_distance: 1.0
+    arrival_check_duration: 1.0
+    goal_angle_threshold_deg: 45.0
+    enable_correct_goal_pose: false

aichallenge/workspace/src/aichallenge_submit/aichallenge_submit_launch/config/planning/scenario_planning/common/nearest_search.param.yaml

@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+    # ego
+    ego_nearest_dist_threshold: 3.0 # [m]
+    ego_nearest_yaw_threshold: 1.046 # [rad] = 60 [deg]

aichallenge/workspace/src/aichallenge_submit/aichallenge_submit_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml

@@ -0,0 +1,116 @@
+# see AvoidanceParameters description in avoidance_module_data.hpp for description.
+/**:
+  ros__parameters:
+    avoidance:
+      resample_interval_for_planning: 0.3               # [m]
+      resample_interval_for_output: 4.0                 # [m]
+      detection_area_right_expand_dist: 0.0             # [m]
+      detection_area_left_expand_dist: 1.0              # [m]
+      drivable_area_right_bound_offset: 0.0             # [m]
+      drivable_area_left_bound_offset: 0.0              # [m]
+      object_envelope_buffer: 0.3                       # [m]
+
+      # avoidance module common setting
+      enable_bound_clipping: false
+      enable_avoidance_over_same_direction: true
+      enable_avoidance_over_opposite_direction: true
+      enable_update_path_when_object_is_gone: false
+      enable_force_avoidance_for_stopped_vehicle: false
+      enable_safety_check: false
+      enable_yield_maneuver: false
+      disable_path_update: false
+
+      # for debug
+      publish_debug_marker: false
+      print_debug_info: false
+
+      # avoidance is performed for the object type with true
+      target_object:
+        car: true
+        truck: true
+        bus: true
+        trailer: true
+        unknown: false
+        bicycle: false
+        motorcycle: false
+        pedestrian: false
+
+      # For target object filtering
+      target_filtering:
+        # filtering moving objects
+        threshold_speed_object_is_stopped: 1.0          # [m/s]
+        threshold_time_object_is_moving: 1.0            # [s]
+        threshold_time_force_avoidance_for_stopped_vehicle: 10.0 # [s]
+        # detection range
+        object_check_force_avoidance_clearance: 30.0    # [m]
+        object_check_forward_distance: 150.0            # [m]
+        object_check_backward_distance: 2.0             # [m]
+        object_check_goal_distance: 20.0                # [m]
+        # filtering parking objects
+        threshold_distance_object_is_on_center: 1.0     # [m]
+        object_check_shiftable_ratio: 0.6               # [-]
+        object_check_min_road_shoulder_width: 0.5       # [m]
+        # lost object compensation
+        object_last_seen_threshold: 2.0
+
+      # For safety check
+      safety_check:
+        safety_check_backward_distance: 100.0            # [m]
+        safety_check_time_horizon: 10.0                  # [s]
+        safety_check_idling_time: 1.5                    # [s]
+        safety_check_accel_for_rss: 2.5                  # [m/ss]
+        safety_check_hysteresis_factor: 2.0              # [-]
+
+      # For avoidance maneuver
+      avoidance:
+        # avoidance lateral parameters
+        lateral:
+          lateral_collision_margin: 1.0                 # [m]
+          lateral_collision_safety_buffer: 0.7          # [m]
+          lateral_passable_safety_buffer: 0.0           # [m]
+          road_shoulder_safety_margin: 0.3              # [m]
+          avoidance_execution_lateral_threshold: 0.499
+          max_right_shift_length: 5.0
+          max_left_shift_length: 5.0
+        # avoidance distance parameters
+        longitudinal:
+          prepare_time: 2.0                             # [s]
+          longitudinal_collision_safety_buffer: 0.0     # [m]
+          min_prepare_distance: 1.0                     # [m]
+          min_avoidance_distance: 10.0                  # [m]
+          min_nominal_avoidance_speed: 7.0              # [m/s]
+          min_sharp_avoidance_speed: 1.0                # [m/s]
+
+      # For yield maneuver
+      yield:
+        yield_velocity: 2.78                            # [m/s]
+
+      # For stop maneuver
+      stop:
+        min_distance: 10.0                              # [m]
+        max_distance: 20.0                              # [m]
+
+      constraints:
+        # vehicle slows down under longitudinal constraints
+        use_constraints_for_decel: false                # [-]
+
+        # lateral constraints
+        lateral:
+          nominal_lateral_jerk: 0.2                     # [m/s3]
+          max_lateral_jerk: 1.0                         # [m/s3]
+
+        # longitudinal constraints
+        longitudinal:
+          nominal_deceleration: -1.0                    # [m/ss]
+          nominal_jerk: 0.5                             # [m/sss]
+          max_deceleration: -2.0                        # [m/ss]
+          max_jerk: 1.0
+          # For prevention of large acceleration while avoidance
+          min_avoidance_speed_for_acc_prevention: 3.0   # [m/s]
+          max_avoidance_acceleration: 0.5               # [m/ss]
+
+      target_velocity_matrix:
+        col_size: 2
+        matrix:
+          [2.78, 13.9,                                  # velocity [m/s]
+           0.50, 1.00]                                  # margin [m]

aichallenge/workspace/src/aichallenge_submit/aichallenge_submit_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml

@@ -0,0 +1,58 @@
+/**:
+  ros__parameters:
+    # Static expansion
+    avoidance:
+      drivable_area_right_bound_offset: 0.0
+      drivable_area_left_bound_offset: 0.0
+      drivable_area_types_to_skip: [road_border]
+    lane_change:
+      drivable_area_right_bound_offset: 0.0
+      drivable_area_left_bound_offset: 0.0
+      drivable_area_types_to_skip: [road_border]
+    lane_following:
+      drivable_area_right_bound_offset: 0.0
+      drivable_area_left_bound_offset: 0.0
+      drivable_area_types_to_skip: [road_border]
+    pull_out:
+      drivable_area_right_bound_offset: 0.0
+      drivable_area_left_bound_offset: 0.0
+      drivable_area_types_to_skip: [road_border]
+    pull_over:
+      drivable_area_right_bound_offset: 0.0
+      drivable_area_left_bound_offset: 0.0
+      drivable_area_types_to_skip: [road_border]
+    side_shift:
+      drivable_area_right_bound_offset: 0.0
+      drivable_area_left_bound_offset: 0.0
+      drivable_area_types_to_skip: [road_border]
+
+    # Dynamic expansion by projecting the ego footprint along the path
+    dynamic_expansion:
+      enabled: false
+      ego:
+        extra_footprint_offset:
+          front: 0.5 # [m] extra length to add to the front of the ego footprint
+          rear: 0.5 # [m] extra length to add to the rear of the ego footprint
+          left: 0.5 # [m] extra length to add to the left of the ego footprint
+          right: 0.5 # [m] extra length to add to the rear of the ego footprint
+      dynamic_objects:
+        avoid: true # if true, the drivable area is not expanded in the predicted path of dynamic objects
+        extra_footprint_offset:
+          front: 0.5 # [m] extra length to add to the front of the dynamic object footprint
+          rear: 0.5 # [m] extra length to add to the rear of the dynamic object footprint
+          left: 0.5 # [m] extra length to add to the left of the dynamic object footprint
+          right: 0.5 # [m] extra length to add to the rear of the dynamic object footprint
+      expansion:
+        method: polygon # method used to expand the drivable area. Either 'lanelet' or 'polygon'.
+                         # 'lanelet': add lanelets overlapped by the ego footprints
+                         # 'polygon': add polygons built around sections of the ego footprint that go out of the drivable area
+        max_distance: 0.0 # [m] maximum distance by which the drivable area can be expended (0.0 means no limit)
+        max_path_arc_length: 50.0 # [m] maximum arc length along the path where the ego footprint is projected (0.0 means no limit)
+        extra_arc_length: 0.5 # [m] extra expansion arc length around an ego footprint
+      avoid_linestring:
+        types: # linestring types in the lanelet maps that will not be crossed when expanding the drivable area
+          - road_border
+        distance: 0.0 # [m] distance to keep between the drivable area and the linestrings to avoid
+        compensate:
+          enable: true  # if true, when the drivable area cannot be expanded in one direction to completely include the ego footprint, it is expanded in the opposite direction
+          extra_distance: 3.0 # [m] extra distance to add to the compensation

aichallenge/workspace/src/aichallenge_submit/aichallenge_submit_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml

@@ -0,0 +1,34 @@
+/**:
+  ros__parameters:
+    lane_change:
+      lane_change_prepare_duration: 4.0         # [s]
+      lane_changing_safety_check_duration: 8.0  # [s]
+
+      minimum_lane_change_prepare_distance: 2.0 # [m]
+      minimum_lane_change_length: 16.5          # [m]
+      backward_length_buffer_for_end_of_lane: 3.0 # [m]
+      lane_change_finish_judge_buffer: 2.0      # [m]
+
+      lane_changing_lateral_jerk: 0.5           # [m/s3]
+      lane_changing_lateral_acc: 0.5            # [m/s2]
+
+      minimum_lane_change_velocity: 2.78        # [m/s]
+      prediction_time_resolution: 0.5           # [s]
+      maximum_deceleration: 1.0                 # [m/s2]
+      lane_change_sampling_num: 3
+
+      # collision check
+      enable_collision_check_at_prepare_phase: false
+      prepare_phase_ignore_target_speed_thresh: 0.1 # [m/s]
+      use_predicted_path_outside_lanelet: false
+      use_all_predicted_path: false
+
+      # abort
+      enable_cancel_lane_change: true
+      enable_abort_lane_change: false
+
+      abort_delta_time: 3.0                      # [s]
+      abort_max_lateral_jerk: 1000.0             # [m/s3]
+
+      # debug
+      publish_debug_marker: false

aichallenge/workspace/src/aichallenge_submit/aichallenge_submit_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_following/lane_following.param.yaml

@@ -0,0 +1,4 @@
+/**:
+  ros__parameters:
+    lane_following:
+      lane_change_prepare_duration: 2.0

aichallenge/workspace/src/aichallenge_submit/aichallenge_submit_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml

@@ -0,0 +1,31 @@
+/**:
+  ros__parameters:
+    pull_out:
+      th_arrived_distance: 1.0
+      th_stopped_velocity: 0.01
+      th_stopped_time: 1.0
+      collision_check_margin: 1.0
+      collision_check_distance_from_end: 1.0
+      # shift pull out
+      enable_shift_pull_out: true
+      shift_pull_out_velocity: 2.0
+      pull_out_sampling_num: 4
+      minimum_shift_pull_out_distance: 20.0
+      maximum_lateral_jerk: 2.0
+      minimum_lateral_jerk: 0.5
+      deceleration_interval: 15.0
+      # geometric pull out
+      enable_geometric_pull_out: true
+      divide_pull_out_path: false
+      geometric_pull_out_velocity: 1.0
+      arc_path_interval: 1.0
+      lane_departure_margin: 0.2
+      backward_velocity: -1.0
+      pull_out_max_steer_angle: 0.26  # 15deg
+      # search start pose backward
+      enable_back: true
+      search_priority: "efficient_path"  # "efficient_path" or "short_back_distance"
+      max_back_distance: 30.0
+      backward_search_resolution: 2.0
+      backward_path_update_duration: 3.0
+      ignore_distance_from_lane_end: 15.0

aichallenge/workspace/src/aichallenge_submit/aichallenge_submit_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml

@@ -0,0 +1,95 @@
+/**:
+  ros__parameters:
+    pull_over:
+      request_length: 100.0
+      th_arrived_distance: 1.0
+      th_stopped_velocity: 0.01
+      th_stopped_time: 2.0  # It must be greater than the state_machine's.
+      pull_over_velocity: 3.0
+      pull_over_minimum_velocity: 1.38
+      margin_from_boundary: 0.5
+      decide_path_distance: 10.0
+      maximum_deceleration: 0.5
+      # goal research
+      enable_goal_research: true
+      search_priority: "efficient_path" # "efficient_path" or "close_goal"
+      forward_goal_search_length: 20.0
+      backward_goal_search_length: 20.0
+      goal_search_interval: 2.0
+      longitudinal_margin: 3.0
+      max_lateral_offset: 0.5
+      lateral_offset_interval: 0.25
+      ignore_distance_from_lane_start: 15.0
+      # occupancy grid map
+      use_occupancy_grid: true
+      use_occupancy_grid_for_longitudinal_margin: false
+      occupancy_grid_collision_check_margin: 0.0
+      theta_size: 360
+      obstacle_threshold: 60
+      # object recognition
+      use_object_recognition: true
+      object_recognition_collision_check_margin: 1.0
+      # shift path
+      enable_shift_parking: true
+      pull_over_sampling_num: 4
+      maximum_lateral_jerk: 2.0
+      minimum_lateral_jerk: 0.5
+      deceleration_interval: 15.0
+      after_pull_over_straight_distance: 1.0
+      # freespace parking
+      enable_freespace_parking: true
+      freespace_parking:
+        planning_algorithm: "astar"  # options: astar, rrtstar
+        velocity: 1.0
+        vehicle_shape_margin: 1.0
+        time_limit: 3000.0
+        minimum_turning_radius: 5.0
+        maximum_turning_radius: 5.0
+        turning_radius_size: 1
+        # search configs
+        theta_size: 144
+        angle_goal_range: 6.0
+        curve_weight: 1.2
+        reverse_weight: 1.0
+        lateral_goal_range: 0.5
+        longitudinal_goal_range: 2.0
+        # costmap configs
+        obstacle_threshold: 30
+        # -- A* search Configurations --
+        astar:
+          only_behind_solutions: false
+          use_back: false
+          distance_heuristic_weight: 1.0
+        # -- RRT* search Configurations --
+        rrtstar:
+          enable_update: true
+          use_informed_sampling: true
+          max_planning_time: 150.0
+          neighbor_radius: 8.0
+          margin: 1.0
+      # parallel parking path
+      enable_arc_forward_parking: true
+      enable_arc_backward_parking: true
+      after_forward_parking_straight_distance: 2.0
+      after_backward_parking_straight_distance: 2.0
+      forward_parking_velocity: 1.38
+      backward_parking_velocity: -1.38
+      forward_parking_lane_departure_margin: 0.0
+      backward_parking_lane_departure_margin: 0.0
+      arc_path_interval: 1.0
+      pull_over_max_steer_angle: 0.35  # 20deg
+      # hazard on when parked
+      hazard_on_threshold_distance: 1.0
+      hazard_on_threshold_velocity: 0.5
+      # check safety with dynamic objects. Not used now.
+      pull_over_duration: 2.0
+      pull_over_prepare_duration: 4.0
+      min_stop_distance: 5.0
+      stop_time: 2.0
+      hysteresis_buffer_distance: 2.0
+      prediction_time_resolution: 0.5
+      enable_collision_check_at_prepare_phase: false
+      use_predicted_path_outside_lanelet: false
+      use_all_predicted_path: false
+      # debug
+      print_debug_info: false

aichallenge/workspace/src/aichallenge_submit/aichallenge_submit_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/side_shift/side_shift.param.yaml

@@ -0,0 +1,8 @@
+/**:
+  ros__parameters:
+    side_shift:
+      min_distance_to_start_shifting: 5.0
+      time_to_start_shifting: 1.0
+      shifting_lateral_jerk: 0.2
+      min_shifting_distance: 5.0
+      min_shifting_speed: 5.56